EP4007536B1 - Instruments chirurgicaux à doubles articulations sphériques avec liaisons pivotantes - Google Patents
Instruments chirurgicaux à doubles articulations sphériques avec liaisons pivotantes Download PDFInfo
- Publication number
- EP4007536B1 EP4007536B1 EP21749328.7A EP21749328A EP4007536B1 EP 4007536 B1 EP4007536 B1 EP 4007536B1 EP 21749328 A EP21749328 A EP 21749328A EP 4007536 B1 EP4007536 B1 EP 4007536B1
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- EP
- European Patent Office
- Prior art keywords
- proximal
- distal
- travel path
- link
- joint member
- Prior art date
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Definitions
- the present invention relates to surgical instruments and, in various arrangements, to surgical stapling and cutting instruments and staple cartridges for use therewith that are designed to staple and cut tissue.
- the surgical instruments may be configured for use in open surgical procedures, but have applications in other types of surgery, such as laparoscopic, endoscopic, and robotic-assisted procedures and may include end effectors that are articulatable relative to a shaft portion of the instrument to facilitate precise positioning within a patient.
- WO 2006/073581 A2 discloses articulation mechanisms and link systems for the remote manipulation of surgical or diagnostic instruments or tools.
- the link systems include links where torque can be transferred between at least two adjacent links while allowing for pivoting motion between the links.
- Mechanisms for preventing undesired lateral movement of links relative to one another are also provided.
- US 2012/197239 A1 discloses an endoscopic medical device with a first articulating joint configured to bend an elongate section in a first bending plane, and a second articulating joint configured to bend the elongate section in a second bending plane.
- US 7 273 488 B2 discloses a high-rigidity forceps tip assembly for active forceps which has two degrees of freedom of bending.
- the present invention provides a surgical instrument as recited in the claims.
- proximal and distal are used herein with reference to a clinician manipulating the handle portion of the surgical instrument.
- proximal refers to the portion closest to the clinician and the term “distal” refers to the portion located away from the clinician.
- distal refers to the portion located away from the clinician.
- spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings.
- surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.
- words of approximation such as “approximately” or “substantially” when used in reference to physical characteristics, should be construed to contemplate a range of deviations that would be appreciated by one of ordinary skill in the art to operate satisfactorily for a corresponding use, function, purpose or the like.
- Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures.
- the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, in connection with open surgical procedures.
- the various instruments disclosed herein can be inserted into a body in any way, such as through a natural orifice, through an incision or puncture hole formed in tissue, etc.
- the working portions or end effector portions of the instruments can be inserted directly into a patient's body or can be inserted through an access device that has a working channel through which the end effector and elongate shaft of a surgical instrument can be advanced.
- a trocar is a pen-shaped instrument with a sharp triangular point at one end that is typically used inside a hollow tube, known as a cannula or sleeve, to create an opening into the body through which surgical end effectors may be introduced.
- a cannula or sleeve a hollow tube
- Such arrangement forms an access port into the body cavity through which surgical end effectors may be inserted.
- the inner diameter of the trocar's cannula necessarily limits the size of the end effector and drive-supporting shaft of the surgical instrument that may be inserted through the trocar.
- the articulation joint components must be sized so as to be freely insertable through the trocar cannula. These size constraints also limit the size and composition of various drive members and components that operably interface with the motors and/or other control systems that are supported in a housing that may be handheld or comprise a portion of a larger automated system. In many instances, these drive members must operably pass through the articulation joint to be operably coupled to or operably interface with the surgical end effector. For example, one such drive member is commonly employed to apply articulation control motions to the surgical end effector.
- the articulation drive member may be unactuated to position the surgical end effector in an unarticulated position to facilitate insertion of the surgical end effector through the trocar and then be actuated to articulate the surgical end effector to a desired position once the surgical end effector has entered the patient.
- the aforementioned size constraints form many challenges to developing an articulation system that can effectuate a desired range of articulation, yet accommodate a variety of different drive systems that are necessary to operate various features of the surgical end effector.
- the articulation system and articulation joint must be able to retain the surgical end effector in that locked position during the actuation of the end effector and completion of the surgical procedure.
- Such articulation joint arrangements must also be able to withstand external forces that are experienced by the end effector during use.
- Such surgical end effectors commonly include a first jaw feature that supports a surgical staple cartridge and a second jaw that comprises an anvil. The jaws are supported relative to each other such that they can move between an open position and a closed position to position and clamp target tissue therebetween.
- Many of these surgical end effectors employ an axially moving firing member.
- the firing member is configured to engage the first and second jaws such that as the firing member is initially advanced distally, the firing member moves the jaws to the closed position.
- Other end effector designs employ a separate closure system that is independent and distinct from the system that operates the firing member.
- the staple cartridge comprises a cartridge body.
- the cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end.
- the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue.
- the anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck.
- staples removably stored in the cartridge body can be deployed into the tissue.
- the cartridge body includes staple cavities defined therein wherein staples are removably stored in the staple cavities.
- the staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.
- the staples are supported by staple drivers in the cartridge body.
- the drivers are movable between a first, or unfired position, and a second, or fired, position to eject the staples from the staple cavities.
- the drivers are retained in the cartridge body by a retainer which extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body.
- the drivers are movable between their unfired positions and their fired positions by a sled.
- the sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end.
- the sled comprises a plurality of ramped surfaces configured to slide under the drivers and lift the drivers, and the staples supported thereon, toward the anvil.
- the sled is moved distally by the firing member.
- the firing member is configured to contact the sled and push the sled toward the distal end.
- the longitudinal slot defined in the cartridge body is configured to receive the firing member.
- the anvil also includes a slot configured to receive the firing member.
- the firing member further comprises a first cam which engages the first jaw and a second cam which engages the second jaw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or tissue gap, between the deck of the staple cartridge and the anvil.
- the firing member also comprises a knife configured to incise the tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximal to the ramped surfaces such that the staples are ejected ahead of the knife.
- Many surgical end effectors employ an axially movable firing beam that is attached to the firing member and is used to apply axial firing and retraction motions to the firing member.
- Many of such firing beams comprise a laminated construction that affords the firing beam with some degree of flexure about the articulation joint.
- the firing beam can apply de-articulation forces to the joint and can cause the beam to buckle.
- the articulation joint is commonly provided with lateral supports or "blow-out" plate features to support the portion of the beam that traverses the articulation joint. To advance the firing beam through an angle of greater than sixty degrees, for example, a lot of axial force is required.
- This axial force must be applied to the firing member in a balanced manner to avoid the firing member from binding with the jaws as the firing member moves distally. Any binding of the firing member with the jaws can lead to component damage and wear as well as require an increased amount of axial drive force to drive the firing member through the clamped tissue.
- a firing member that is rotary powered.
- a rotary drive shaft extends through the articulation joint and interfaces with a rotatable firing member drive shaft that is rotatably supported within one of the jaws.
- the firing member threadably engages the rotatable firing member drive shaft and, as the rotatable firing member drive shaft is rotated, the firing member is driven through the end effector.
- Such arrangements require the supporting jaw to be larger to accommodate the firing member drive shaft.
- a lower end of the firing member commonly operably interfaces with the drive shaft which can also result in an application of forces that tend to unbalance the firing member as it is driven distally.
- FIGS. 1-4 illustrate one form of a surgical instrument 10 that may address many of the challenges facing surgical instruments with articulatable end effectors that are configured to cut and fasten tissue.
- the surgical instrument 10 may comprise a handheld device.
- the surgical instrument 10 may comprises an automated system sometimes referred to as a robotically-controlled system, for example.
- the surgical instrument 10 comprises a surgical end effector 1000 that is operably coupled to an elongate shaft assembly 2000.
- the elongate shaft assembly 2000 may be operably attached to a housing 2002.
- the housing 2002 may comprise a handle that is configured to be grasped, manipulated, and actuated by the clinician.
- the housing 2002 may comprise a portion of a robotic system that houses or otherwise operably supports at least one drive system that is configured to generate and apply at least one control motion which could be used to actuate the surgical end effectors disclosed herein and their respective equivalents.
- various components may be "housed” or contained in the housing or various components may be “associated with” a housing. In such instances, the components may not be contained with the housing or supported directly by the housing.
- the surgical instruments disclosed herein may be employed with various robotic systems, instruments, components and methods disclosed in U.S. Patent No. 9,072,535 , entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS.
- the surgical end effector 1000 comprises a first jaw 1100 and a second jaw 1200.
- the first jaw 1100 comprises an elongate channel 1110 that comprises a proximal end 1112 and a distal end 1114 and is configured to operably support a surgical staple cartridge 1300 therein.
- the surgical staple cartridge 1300 comprises a cartridge body 1302 that has an elongate slot 1304 therein.
- a plurality of surgical staples or fasteners are stored therein on drivers (not shown) that are arranged in rows on each side of the elongate slot 1304.
- the drivers are each associated with corresponding staple cavities 1308 that open through a cartridge deck surface 1306.
- the surgical staple cartridge 1300 may be replaced after the staples/fasteners have been discharged therefrom.
- Other embodiments are contemplated wherein the elongate channel 1110 and/or the entire surgical end effector 1000 may is discarded after the surgical staple cartridge 1300 has been used.
- Such end effector arrangements may be referred to as "disposable loading units", for example.
- the second jaw 1200 comprises an anvil 1210 that comprises an elongate anvil body 1212 that comprises a proximal end 1214 and a distal end 1216.
- a pair of stiffening rods or members 1213 may be supported in the anvil body 1212 to provide the anvil body 1212 with added stiffness and rigidity.
- the anvil body 1212 comprises a staple-forming undersurface 1218 that faces the first jaw 1100 and may include a series of staple-forming pockets (not shown) that corresponds to each of the staples or fasteners in the surgical staple cartridge 1300.
- the anvil body 1212 may further include a pair of downwardly extending tissue stop features 1220 that are formed adjacent the proximal end 1214 of the anvil body 1212.
- One tissue stop feature 1220 extends from each side of the anvil body 1212 such that a distal end 1222 on each tissue stop corresponds to the proximal-most staples/fasteners in the surgical staple cartridge 1300.
- the staples/fasteners supported within each staple cavity are driven out of the staple cavity 1308 through the clamped tissue and into forming contact with the staple-forming undersurface 1218 of the anvil 1210.
- the proximal end 1214 of the anvil body 1212 comprises an anvil mounting portion 1230 that includes a pair of laterally extending mounting pins 1232 that are configured to be received in corresponding mounting cradles or pivot cradles 1120 formed in the proximal end 1112 of the elongate channel 1110.
- the mounting pins 1232 are pivotally retained within the mounting cradles 1120 by an anvil cap 1260 that may be attached to the proximal end 1112 of the elongate channel 1110 by mechanical snap features 1261 that are configured to engage retention formations 1113 on the elongate channel 1110. See FIG. 5 .
- the anvil cap 1260 may be attached to the elongate channel 1110 by welding, adhesive, etc. Such arrangement facilitates pivotal travel of the anvil 1210 relative to the surgical staple cartridge 1300 mounted in the elongate channel 1110 about a pivot axis PA between an open position ( FIG. 1 ) and a closed position ( FIGS. 2-5 ).
- Such pivot axis PA may be referred to herein as being "fixed” in that the pivot axis does not translate or otherwise move as the anvil 1200 is pivoted from an open position to a closed position.
- the elongate shaft assembly 2000 defines a shaft axis SA and comprises a proximal shaft portion 2100 that may operably interface with a housing of the control portion (e.g., handheld unit, robotic tool driver, etc.) of the surgical instrument 10.
- the elongate shaft assembly 2000 further comprises an articulation joint 2200 that is attached to the proximal shaft portion 2100 and the surgical end effector 1000.
- the proximal shaft portion 2100 comprises a hollow outer tube 2110 that may be operably coupled to a housing 2002. See FIG. 2 . As can be seen in FIG.
- the proximal shaft portion 2100 may further comprise a rigid proximal support shaft 2120 that is supported within the hollow outer tube 2110 and extends from the housing to the articulation joint 2200.
- the proximal support shaft 2120 may comprise a first half 2120A and a second half 2120B that may be coupled together by, for example, welding, adhesive, etc.
- the proximal support member 2120 comprises a proximal end 2122 and a distal end 2124 and includes an axial passage 2126 that extends therethrough from the proximal end 2122 to the distal end 2124.
- firing beam that is pushed distally through a surgical staple cartridge by an axially movable firing beam.
- the firing beam is commonly attached to the firing member in the center region of the firing member body. This attachment location can introduce an unbalance to the firing member as it is advanced through the end effector. Such unbalance can lead to undesirable friction between the firing member and the end effector jaws.
- the creation of this additional friction may require an application of a higher firing force to overcome such friction as well as can cause undesirable wear to portions of the jaws and/or the firing member.
- An application of higher firing forces to the firing beam may result in unwanted flexure in the firing beam as it traverses the articulation joint.
- the surgical instrument 10 employs a firing system 2300 that may address many if not all of these issues as well as others.
- the firing system 2300 comprises a firing member 2310 that includes a vertically-extending firing member body 2312 that comprises a top firing member feature 2320 and a bottom firing member feature 2350.
- a tissue cutting blade 2314 is attached to or formed in the vertically-extending firing member body 2312. See FIGS. 9 and 11 .
- the top firing member feature 2320 comprises a top tubular body 2322 that has a top axial passage 2324 extending therethrough. See FIG. 10 .
- the bottom firing member feature 2350 comprises a bottom tubular body 2352 that has a bottom axial passage 2354 extending therethrough.
- the top firing member feature 2320 and the bottom firing member feature 2350 are integrally formed with the vertically-extending firing member body 2312.
- the anvil body 1212 comprises an axially extending anvil slot 1240 that has a cross-sectional shape that resembles a "keyhole”.
- the elongate channel 1110 comprises an axially extending channel slot 1140 that also has a keyhole cross-sectional shape.
- Traditional firing member arrangements employ long flexible cantilever wings that extend from a top portion and a bottom portion of the firing member. These cantilever wings slidably pass through slots in the anvil and channel that are commonly cut with a rectangular t-cutter which tended to produce higher friction surfaces. Such long cantilever wings have minimum surface area contact with the anvil and channel and can result in galling of those components.
- the keyhole-shaped channel slot 1140 and keyhole-shaped anvil slot 1240 may be cut with a round t-cutter and may be finished with a reamer/borer which will result in the creation of a lower friction surface.
- top tubular body 2322 and the bottom tubular body 2352 tend to be stiffer than the prior cantilever wing arrangements and have increased surface area contact with the anvil and channel, respectively which can reduce galling and lead to a stronger sliding connection.
- the anvil slot 1240 and the channel slot 1140 are keyhole-shaped and have less material removed than a traditional rectangular slot, the geometry and increased material may result in a stiffer anvil and channel when compared to prior arrangements.
- the firing system 2300 further comprises an upper flexible spine assembly 2400 that is operably coupled to the top firing member feature 2320 and a lower flexible spine assembly 2500 that is operably coupled to the bottom firing member feature 2350.
- the upper flexible spine assembly 2400 comprises an upper series 2410 of upper vertebra members 2420 that are loosely coupled together by an upper flexible coupler member 2402 that is attached to the top firing member feature 2320.
- the upper flexible coupler member 2402 may comprises a top cable 2404 that extends through the top axial passage 2324 in the top firing member feature 2320 and a distal end 2406 of the top cable 2404 is attached to a retainer ferrule 2408 that is secured with the top axial passage 2324.
- each upper vertebra member 2420 comprises an upper vertebra body portion 2422 that has a proximal end 2424 and a distal end 2428.
- An upper hollow passage 2429 extends through the upper vertebra body portion 2422 to accommodate passage of the upper flexible coupler member 2402 therethrough.
- Each upper vertebra member 2420 further comprises a downwardly extending upper drive feature or upper vertebra member tooth 2450 that protrudes from the upper vertebra body portion 2422.
- Each upper vertebra member tooth 2450 has a helix-shaped proximal upper face portion 2452 and a helix-shaped distal upper face portion 2454.
- Each proximal end 2424 of the upper vertebra body portions 2422 has an upper proximal mating feature 2426 therein and each distal end 2428 has an upper distal mating feature 2430 formed therein.
- the upper proximal mating feature 2426 comprises a concave recess 2427 and each upper distal mating feature 2430 comprises a convex mound 2431.
- the convex mound 2431 on one upper vertebra member 2420 contacts and mates with the concave recess 2427 on an adjacent upper vertebra member 2420 in the upper series 2410 to maintain the upper vertebra members 2420 roughly in alignment so that the helix-shaped proximal upper face portion 2452 and a helix-shaped distal upper face portion 2454 on each respective upper tooth 2450 can be drivingly engaged by a rotary drive screw 2700 as will be discussed in further detail below.
- the lower flexible spine assembly 2500 comprises a lower series 2510 of lower vertebra members 2520 that are loosely coupled together by a lower flexible coupler member 2502 that is attached to the bottom firing member feature 2350.
- the lower flexible coupler member 2502 may comprises a lower cable 2504 that extends through the bottom axial passage 2354 in the bottom firing member feature 2350 and a distal end 2506 of the bottom cable 2504 is attached to a retainer ferrule 2508 that is secured with the bottom axial passage 2354.
- each lower vertebra member 2520 comprises a lower vertebra body portion 2522 that has a proximal end 2524 and a distal end 2528.
- a lower hollow passage 2529 extends through the lower vertebra body portion 2522 to accommodate passage of the lower flexible coupler member 2502 therethrough.
- Each lower vertebra member 2520 further comprises an upwardly extending lower drive feature or lower vertebra member tooth 2550 that protrudes upward from the lower vertebra body portion 2522.
- Each lower vertebra member tooth 2550 has a helix-shaped proximal lower face portion 2552 and a helix-shaped distal lower face portion 2554.
- Each proximal end 2524 of the lower vertebra body portions 2522 has a lower proximal mating feature 2526 therein and each distal end 2528 has a lower distal mating feature 2530 formed therein.
- the lower proximal mating feature 2526 comprises a concave recess 2527 and each lower distal mating feature 2530 comprises a convex mound 2531.
- the convex mound 2531 on one lower vertebra member 2520 contacts and mates with the concave recess 2527 on an adjacent lower vertebra member 2520 in the lower series 2510 to maintain the lower vertebra members 2520 roughly in alignment so that the helix-shaped proximal lower face portion 2552 and a helix-shaped distal lower face portion 2554 on each respective lower vertebra member tooth 2550 can be drivingly engaged by a rotary drive screw 2700 as will be discussed in further detail below.
- the firing drive system 2300 further comprises a rotary drive screw 2700 that is configured to drivingly interface with the upper series 2410 of upper vertebra members 2420 and the lower series 2510 of lower vertebra members 2520.
- the rotary drive screw 2700 is driven by a rotary drive system 2600 that comprises a proximal rotary drive shaft 2610 that is rotatably supported within the axial passage 2126 within the proximal support shaft 2120. See FIG. 7 .
- the proximal rotary drive shaft 2610 comprises a proximal end 2612 and a distal end 2614.
- the proximal end 2612 may interface with a gear box 2004 or other arrangement that is driven by a motor 2006 or other source of rotary motion housed in the housing of the surgical instrument. See FIG. 2 .
- a motor 2006 or other source of rotary motion housed in the housing of the surgical instrument. See FIG. 2 .
- Such source of rotary motion causes the proximal rotary drive shaft to rotate about the shaft axis SA within the axial passage 2126 in the proximal support shaft 2120.
- the proximal rotary drive shaft 2610 is operably supported within the elongate shaft assembly 2000 in a location that is proximal to the articulation joint 2200 and operably interfaces with a constant velocity (CV) drive shaft assembly 2620 that spans or extends axially through the articulation joint 2200.
- CV constant velocity
- the CV drive shaft assembly 2620 comprises a proximal CV drive assembly 2630 and a distal CV drive shaft 2670.
- the proximal CV drive assembly 2630 comprises a proximal shaft segment 2632 that consists of an attachment shaft 2634 that is configured to be non-rotatably received within a similarly-shaped coupler cavity 2616 in the distal end 2614 of the proximal rotary drive shaft 2610.
- the proximal shaft segment 2632 operably interfaces with a series 2640 of movably coupled drive joints 2650.
- each drive joint 2650 comprises a first or distal sphere portion 2660 and a second or proximal sphere portion 2652.
- the distal sphere portion 2660 is larger than the proximal sphere portion 2652.
- the distal sphere portion 2660 comprises a socket cavity 2662 that is configured to rotatably receive a proximal sphere portion 2652 of an adjacent drive joint 2650 therein.
- Each proximal sphere portion 2652 comprises a pair of diametrically opposed joint pins 2654 that are configured to be movably received in corresponding pin slots 2664 in the distal sphere portion 2660 of an adjacent drive joint 2650 as can be seen in FIG. 16 .
- a proximal sphere portion 2652P of a proximal-most drive joint 2650P is rotatably received in a distal socket portion 2636 of the proximal shaft segment 2632 as shown in FIG. 16 .
- the joint pins 2654P are received within corresponding pin slots 2637 in the distal socket portion 2636.
- a distal-most drive joint 2650D in the series 2640 of movably coupled drive joints 2650 is movably coupled to a distal CV drive shaft 2670.
- the distal CV drive shaft 2670 comprises a proximal sphere portion 2672 that is sized to be movably received in the socket cavity 2662D in the distal-most drive joint 2650D.
- the proximal sphere portion 2672 includes joint pins 2674 that are movably received in the pin slots 2664D in the distal-most drive joint 2650D.
- the distal CV drive shaft 2670 further comprises a distally extending shaft stem 2676 that is configured to be non-rotatably coupled to the rotary drive screw 2700 that is positioned distal to the articulation joint 2200.
- the distal CV drive shaft 2670 includes a flange 2677 and a mounting barrel portion 2678 for receiving a thrust bearing housing 2680 thereon.
- each drive joint may be capable of approximately eighteen degrees of articulation in the pitch and yaw directions.
- FIG. 16 illustrates an angle of the series of 2640 of drive joints 2650 when each drive joint 2650 in the series are fully articulated ninety degrees in pitch and yaw which yields an angle ⁇ of approximately 100.9 degrees.
- the outer surface of each distal sphere portion 2660 clears the outer surface of the adjacent or adjoining proximal sphere portion 2652 allowing for unrestricted motion until the eighteen degree limit is reached.
- the rigid design and limited small angles allow the series 2640 of movably coupled drive joints 2650 to carry high loads torsionally at an overall large angle.
- the articulation joint 2200 comprises an articulation joint spring 2230 that is supported within an outer elastomeric joint assembly 2210.
- the outer elastomeric joint assembly 2210 comprises a distal end 2212 that is attached to the proximal end 1112 of the elongate channel 1110.
- the distal end 2212 of the outer elastomeric joint assembly 2210 is attached to the proximal end 1112 of the elongate channel 1110 by a pair of cap screws 2722 that extend through a distal mounting bushing 2720 to be threadably received in the proximal end 1112 of the elongate channel 1110.
- a proximal end 2214 of the elastomeric joint assembly 2210 is attached to the distal end 2124 of the proximal support shaft 2120.
- the proximal end 2214 of the elastomeric joint assembly 2210 is attached to the distal end 2124 of the proximal support member 2120 by a pair of cap screws 2732 that extend through a proximal mounting bushing 2750 to be threadably received in threaded inserts 2125 mounted within the distal end 2124 of the proximal support shaft 2120.
- the series 2640 of movably coupled drive joints 2650 extend through at least one low friction articulation joint spring 2730 that is supported within the outer elastomeric joint assembly 2210. See FIG. 19 .
- the articulation joint spring 2730 is sized relative to the drive joints 2650 such that a slight radial clearance is provided between the articulation joint spring 2730 and the drive joints 2650.
- the articulation joint spring 2730 is designed to carry articulation loads axially which may be significantly lower than the torsional firing loads.
- the joint spring(s) is longer than the series 2640 of drive joints 2650 such that the drive joints are axially loose.
- the drive joints 2650 may serve as an articulation compression limiter causing firing loads and articulation loads to resolve axially through the series 2640 of the drive joints 2650.
- the loads may try to straighten the articulation joint 2200 or in other words cause de-articulation.
- the hard stack of the articulation joint spring(s) 2730 is longer than the hard stack of the series 2640 of the drive joints 2650, the firing loads will then be contained within the end effector and no firing loads will resolve through the drive joints 2650 or through the springs(s) 2730.
- a proximal drive spring 2740 is employed to apply an axial biasing force to the series 2640 of drive joints 2650.
- the proximal drive spring 2740 is positioned between the proximal mounting bushing 2734 and a support flange that is formed between the distal socket portion 2636 and a proximal barrel portion 2638 of the proximal shaft segment 2632.
- the proximal drive spring 2740 may comprise an elastomeric O-ring/bushing received on the proximal barrel portion 2638 of the proximal shaft segment 2632.
- the proximal drive spring 2740 lightly biases the drive joints 2650 together to decrease any gaps that may occur during articulation. This ensures that the drive joints 2650 transfer loads torsionally. It will be appreciated, however, that in at least one arrangement, the proximal drive spring 2740 does not apply a high enough axial load to cause firing loads to translate through the articulation joint 2200.
- the top firing member feature 2320 on the firing member 2310 comprises a distal upper firing member tooth segment 2330 that is equivalent to one half of an upper tooth 2450 on each upper vertebra member 2420.
- a proximal upper firing member tooth 2336 that is identical to an upper tooth 2450 on each upper vertebra member 2420 is spaced from the distal upper firing member tooth segment 2330.
- the distal upper firing member tooth segment 2330 and the proximal upper firing member tooth 2336 may be integrally formed with the top firing member feature 2320 of the firing member 2310.
- the bottom firing member feature 2350 of the firing member 2310 comprises a distal lower firing member tooth 2360 and a proximal lower firing member tooth 2366 that are integrally formed on the bottom firing member feature 2350.
- the firing member 2310 with the rigidly attached teeth 2330, 2336, 2360, and 2366 may be fabricated at one time as one unitary component using conventional metal injection molding techniques.
- each of the upper vertebra members 2520 is movably received on an upper flexible coupler member 2402 in the form of a top cable 2404. As was described above, the distal end 2406 of the top cable 2404 is secured to the top firing member feature 2320 of the firing member 2310. Similarly, each of the lower vertebra members 2520 is movably received on a lower flexible coupler member 2502 in the form of a lower cable 2504. A distal end 2506 of the lower cable 2504 is secured to the bottom firing member feature 2350 of the firing member 2310.
- the top cable 2404 and the bottom cable 2504 extend through the proximal shaft portion 2100 and, as will be discussed in further detail below, may interface with a bailout arrangement supported in the housing for retracting the firing member 2310 back to its home or starting position should the firing member drive system fail.
- the axial length AL u of the upper series 2410 of upper vertebra members 2420 and the axial length ALi of the lower series 2510 of lower vertebra members 2520 are equal and must be sufficiently long enough to facilitate the complete distal advancement of the firing member 2310 from the home or starting position to a distal-most ending position within the staple cartridge while the proximal-most upper vertebra members 2420 in the upper series 2410 of upper vertebra members 2420 and the proximal-most lower vertebra members 2520 in the lower series 2510 of lower vertebra members 2520 remain in driving engagement with the rotary drive screw 2700.
- FIG. 8 the axial length AL u of the upper series 2410 of upper vertebra members 2420 and the axial length ALi of the lower series 2510 of lower vertebra members 2520 are equal and must be sufficiently long enough to facilitate the complete distal advancement of the firing member 2310 from the home or starting position to a distal-most ending position within the staple cartridge while the proximal-most upper vertebra members 2420 in the upper series 2410 of upper
- an upper compression limiting spring 2421 is configured to interface with a proximal-most upper vertebra member 2420P in the upper series 2410 of upper vertebra members 2420.
- the upper compression limiting spring 2421 is journaled on the top cable 2404 and is retained in biasing engagement with the proximal-most upper vertebra member 2420P by an upper spring holder 2423 that is retained in position by an upper ferrule 2425 that is crimped onto the top cable 2404.
- the top cable 2404 extends through an upper hypotube 2433 that is supported in the proximal support shaft.
- a lower compression limiting spring 2521 is configured to interface with a proximal-most, lower vertebra member 2520P in the lower series 2510 of lower vertebra members 2520.
- the lower compression spring 2521 is journaled on the lower cable 2504 and is retained in biasing engagement with the proximal-most, lower vertebra member 2520P by a lower spring holder 2523 that is retained in position by a lower ferrule 2525 that is crimped onto the lower cable 2504.
- the lower cable 2504 extends through a lower hypotube 2533 that is supported in the proximal support shaft.
- the gaps between the respective vertebra members 2420, 2520 increase in each series 2410, 2510 which causes the springs 2421, 2521 to become tighter.
- the compression limiting springs 2421, 2521 provide enough slack in the cables 2404, 2504, respectively to enable the vertebra members 2420, 2520 angle through the most extreme articulation angles. If the cables 2404, 2504 are pulled too tight, the spring holders 2423, 2523 will contact their respective proximal-most vertebra members 2420P, 2520P.
- Such compression limiting arrangements ensure that the vertebra members 2420, 2520 in their respective series 2410, 2510 always remain close enough together so that the rotary drive screw 2700 will always drivingly engage them in the manner discussed in further detail below.
- the compression limiting springs 2421, 2521 may partially relax while still maintaining some compression between the vertebra members.
- the convex mounds and concave recesses in each vertebra member as well as the compression limiter springs serve to maintain the upper and lower vertebra members in relatively linear alignment for driving engagement by the rotary drive screw 2700.
- the upper teeth 2450 are spaced from each other by an opening space generally designated as 2460 that facilitates driving engagement with the helical drive thread 2170 on the rotary drive screw.
- the lower vertebra member teeth 2550 are spaced from each other by an opening space generally designated as 2560 that facilitates driving engagement with the helical drive thread 2170 of the rotary drive screw 2700.
- the rotary drive screw 2700 comprises a screw body 2702 that has a socket 2704 therein for receiving the distally extending shaft stem 2676 of the distal CV drive shaft 2670.
- An internal radial groove 2714 ( FIG. 10 ) is formed in the screw body 2702 for supporting a plurality of ball bearings 2716 therein. In one arrangement, for example, 12 ball bearings 2716 are employed.
- the radial groove 2714 supports the ball bearings 2716 between the screw body 2702 and a distal end of the thrust bearing housing 2680.
- the ball bearings 2716 serve to distribute the axial load of the rotary drive screw 2700 and significantly reduce friction through the balls' rolling motion.
- a helical drive thread 2710 is provided around the screw body 2702 and serves to form a proximal thread scoop feature 2712.
- the proximal thread scoop feature 2712 is formed with a first pitch 2713 and the remaining portion of the helical drive thread 2710 is formed with a second pitch 2715 that differs from the first pitch 2713.
- area 2718 illustrates where the first pitch 2713 and the second pitch 2715 converge.
- the first pitch 2713 is larger than the second pitch 2715 to ensure that the rotary drive screw 2700 captures and "scoops up" or drivingly engages every upper vertebra member 2420 and every lower vertebra member 2520.
- a proximal end 2717 of the helical drive thread 2710 that has the first pitch 2713 has scooped into the into the opening space 2560 between two adjacent lower vertebra member teeth 2550A and 2550B while the center portion 2719 of the helical drive thread 2710 that has the second pitch 2715 is in driving engagement with the helix-shaped distal lower face portion 2554 on the lower vertebra member tooth 2550B and the helix-shaped proximal lower face portion 2552 on the proximal lower firing member tooth 2366.
- the scoop feature 2712 may not contact the helix-shaped distal lower face portion 2554A of the lower vertebra member tooth 2550A as it scoops up the lower vertebra member tooth 2550B when driving the firing member 2310 distally.
- the helical drive thread 2710 interacts with the teeth 2450 of the upper vertebra members 2420 in a similar manner.
- a power screw is a threaded rod with a full three hundred sixty degree nut around it. Rotation of the power screw causes the nut to advance or move longitudinally. In the present arrangements, however, due to space constraints, a full three hundred sixty degree nut cannot fit inside the end effector.
- the upper flexible spine assembly 2400 and the lower flexible spine assembly 2500 comprise a radially/longitudinally segmented "power screw nut" that is rotatably driven by the rotary drive screw 2700.
- the rotary drive screw 2700 drives one or more vertebra members in each of the upper series and lower series of vertebra members longitudinally while the vertebra members 2420, 2520 stay in the same locations radially.
- the upper series 2410 and lower series 2510 are constrained from rotating around the rotary drive screw 2700 and can only move longitudinally.
- the upper vertebra members 2420 in the upper series 2410 and the lower vertebra members 2520 in the lower series 2510 only surround the rotary drive screw 2700 with less than ten degrees each.
- FIG. 25 illustrates the firing member 2310 in the home or starting position.
- a portion of the helical drive thread 2710 on the rotary drive screw 2700 is engaged between the distal upper firing member tooth segment 2330 and the proximal upper firing member tooth 2336 and another portion of the helical drive thread 2710 is engaged between the distal lower firing member tooth 2360 and a proximal lower firing member tooth 2366 on the firing member 2310.
- Such arrangement enables the rotary drive screw 2700 to precisely control the distal and proximal movement of the firing member 2310 which, as will be discussed in further detail below, can result in the precise movement of the anvil 1210.
- the helical drive thread 2710 operably engages the teeth on the upper and lower vertebras. See FIG. 26 .
- the surgical instrument 10 also comprises an articulation system 2240 that is configured to apply articulation motions to the surgical end effector 1000 to articulate the surgical end effector relative to the elongate shaft assembly 2000.
- the articulation system comprises four articulation cables 2242, 2246, 2250, and 2254 that extend through the elongate shaft assembly 2000. See FIG. 27 .
- the articulation cables 2242, 2246 pass through the proximal mounting bushing 2750, the proximal end 2214 of the elastomeric joint assembly 2210, as well as a central rib segment 2216 to be secured to the distal end 2212 of the elastomeric joint assembly 2210 or other portion of the surgical instrument.
- the articulation cables 2250 and 2254 extend through the proximal mounting bushing 2750, the proximal end 2214 of the elastomeric joint assembly 2210, as well as a central rib segment 2218 to be secured to the distal end 2212 of the elastomeric joint assembly 2210 or other portion of the surgical end effector.
- the cables 2242, 2246, 2250, and 2254 operably interface with an articulation control system that is supported in the housing of the surgical instrument 10.
- a proximal portion of each cable 2242, 2246, 2250, and 2254 may be spooled on a corresponding rotary spool or cable-management system 2007 ( FIG.
- FIG. 29 illustrates articulation of the surgical end effector 1000 through a first articulation plane relative to the elongate shaft assembly 2000.
- FIG. 30 illustrates articulation of the surgical end effector 1000 through a second articulation plane relative to the elongate shaft assembly 2000.
- FIG. 31 illustrates articulation of the surgical end effector 1000 through multiple articulation planes relative to the elongate shaft assembly 2000.
- FIGS. 32-34 illustrate an alternative articulation joint 2200' in the form of an elastomeric joint assembly 2210'.
- each articulation cable passes through a corresponding spring 2215' that is mounted in the ribs 2216' of the elastomeric joint assembly 2210'.
- cable 2242 extends through spring 2244.
- Cable 2246 extends through spring 2248.
- Cable 2250 extends through spring 2252 and cable 2254 extends through spring 2256.
- the end effector is articulated by pulling on and relaxing the appropriate cables 2242, 2246, 2250 and 2254.
- each of the springs 2244, 2248, 2252, and 2256 can slide through the ribs of the elastomeric joint to push the end effector and pull on the cables extending therethrough.
- the springs 2244, 2248, 2252, and 2256 will also retract into the ribs when the cables 2242, 2246, 2250, and 2254 are pulled tight.
- Each of the springs 2244, 2248, 2252, and 2256 loosely seat over the particular cable that passes therethrough.
- Each cable and corresponding spring may terminate or otherwise be coupled to a corresponding solid rod that is supported in the elongate shaft assembly 2000 and may be pushed and pulled from its proximal end.
- the upper vertebra members 2420 in the upper series 2410 and the lower vertebra members 2520 in the lower series 2510 are constrained to ensure that their loads are transferred to the firing member in a longitudinal direction.
- the upper vertebra members 2420 are aligned to pass through an upper sleeve 2470 that extends through an upper portion of the outer elastomeric joint assembly 2210 of the articulation joint 2200. See FIGS.
- a distal end 2472 of the upper sleeve 2470 is supported in the proximal end 1112 of the elongate channel 1110 and a proximal end 2474 of the upper sleeve 2470 is supported in the distal end of the proximal support shaft 2120.
- the upper sleeve 2470 is fabricated from a polymer or plastic material that has a low coefficient of friction and is flexible to enable the upper sleeve 2470 to flex with the outer elastomeric joint assembly 2210.
- the upper sleeve 2470 protects the upper vertebra members 2420 from contacting the outer elastomeric joint assembly 2210 that is fabricated from an elastomeric material that may have a higher coefficient of friction than the coefficient of friction of the material of the upper sleeve 2470. Stated another way, the upper sleeve 2470 forms a low friction, flexible, continuous, uninterrupted, and fully encapsulating path for the upper vertebra members 2420 as they traverse the articulation joint 2200.
- a lower sleeve 2570 is employed to support the lower vertebra members 2520 as they pass through the articulation joint 2200.
- a distal end 2572 of the lower sleeve 2570 is supported in the proximal end of the elongate channel and a proximal end of the lower sleeve 2570 is supported in the distal end of the proximal support shaft 2120.
- the lower sleeve 2570 is fabricated from a polymer or plastic material that has a low coefficient of friction and is flexible to enable the lower sleeve 2570 to flex with the outer elastomeric joint assembly 2210.
- the lower sleeve 2570 protects the lower vertebra members 2520 from contacting the outer elastomeric joint assembly 2210 as they pass through the articulation joint 2200. Stated another way, the lower sleeve 2570 forms a low friction, flexible, continuous, uninterrupted, and fully encapsulating path for the lower vertebra members 2520 as they traverse the articulation joint 2200.
- the upper sleeve 2470 and the lower sleeve 2570 are configured to bend freely without creating a kink. To prevent the formation of kinks in the sleeves, in at least one arrangement, the sleeves 2470, 2570 are supported within the outer elastomeric joint assembly 2210 such that the sleeves may move axially.
- the lower sleeve 2570 may slide distally and have a large bend radius; the upper sleeve 2470 in the same example, may slide proximally and have a tighter bend radius.
- the distal end 2472 of the upper sleeve 2470 is formed with an upper scoop 2476 that is configured to funnel the upper vertebra members 2420 into the anvil cap 1260.
- the distal end of the lower sleeve 2570 may be formed with a lower scoop that is configured to funnel the lower vertebra members 2520 into the channel slot 1140 in the elongate channel 1110.
- the anvil mounting portion 1230 comprises a pair of laterally extending mounting pins 1232 that are configured to be received in corresponding mounting cradles or pivot cradles 1120 that are formed in the proximal end 1112 of the elongate channel 1110.
- the mounting pins 1232 are pivotally retained within the mounting cradles 1120 by an anvil cap 1260 that is attached to the proximal end 1112 of the elongate channel 1110 in the above-described manners.
- the anvil cap 1260 comprises a proximal end 1262 and a distal end 1264 and has a keyhole-shaped vertebra passage 1266 extending therethrough to accommodate passage of the top firing member feature 2320 and upper vertebra members 2420 therethrough.
- FIG. 36 illustrates the vertebra passage 1266 in the anvil cap 1260.
- the vertebra members 2420 will tend to tilt about the area A in FIG. 37 , so the upper vertebra member tooth 2450 is no longer square with the rotary drive screw 2700 and may instead experience a higher-pressure line contact.
- Areas B in FIG. 37 show where the upper vertebra member 2420 stops tilting.
- the upper vertebra member tooth 2450 must be angled the same amount as the upper vertebra member 2420 tilts.
- the upper vertebra member tooth 2450 will still maintain surface contact with the helical drive member 2710 on the rotary drive screw 2700 and all loads will be directed longitudinally and not vertically.
- the slightly angled upper vertebra member tooth 2450 may behave like a square thread when the vertebra member 2420 is tilted and better distributes loads to lower the pressure contact. By directing most of the loads in the longitudinal direction, vertical loads are avoided which could result in the establishment of friction that would counter the longitudinal loads.
- the upper vertebra members 2420 react similarly as they pass down the keyhole-shaped anvil slot 1240.
- the lower vertebra members 2520 react similarly as they pass through the keyhole-shaped axially extending channel slot 1140 in the elongate channel 1110.
- the anvil 1210 is moved to the open position by a pair of anvil springs 1270 that are supported within the proximal end of the elongate channel. See FIGS. 38 , 42 , and 43 .
- the springs 1270 are positioned to apply a pivotal biasing force to corresponding anvil control arms 1234 that may be integrally formed with anvil mounting portion 1230 and extend downwardly therefrom. See FIG. 38 .
- FIGS. 39-41 illustrate portions of the anvil 1210, the firing member 2310, and the anvil cap 1260 when the anvil 1210 is open ( FIG. 39 ), when the anvil 1210 is partially closed ( FIG. 40 ) and after the firing member has been advanced distally from the home or starting position ( FIG. 41 ).
- FIG. 39 when the firing member 2310 is in the home or starting position, the top firing member feature 2320 is completely received within the vertebra passage 1266 in the anvil cap 1260.
- the top firing member feature 2320 and the upper vertebra members 2420 in the upper series 2410 must transition from the vertebra passage 1266 in the anvil cap 1260 to the keyhole-shaped anvil slot 1240.
- the distal end 1264 of the anvil cap 1260 is formed with a curved cap surface 1265 that matches a curved mating surface 1231 on the anvil mounting portion 1230. Both surfaces 1265, 1231 are curved and concentric about the pivot axis PA or some other reference point. Such arrangement allows the anvil 1210 to move radially and not interfere with the anvil cap 1260 while maintaining a minimal gap G therebetween.
- the gap G between the anvil mounting portion 1230 and the distal end 1264 of the anvil cap 1260 is significantly shorter than a length of an upper vertebra member 2420 which facilitates easy transition of each upper vertebra member 2420 from the vertebra passage 1266 in the anvil cap 1260 to the keyhole-shaped anvil slot 1240.
- a ramped surface 1241 is formed adjacent the curved mating surface 1231 on the anvil mounting portion 1230.
- a distal end of the top firing member feature 2320 contacts the ramped surface 1241 and begins to apply a closing motion to the anvil 1210 as can be seen in FIG. 40 .
- Further distal advancement of the firing member 2310 during the firing stroke or firing sequence causes the top firing member feature to enter the keyhole shaped anvil slot 1240 to completely close the anvil 1210 and retain the anvil 1210 in the closed position during the firing sequence. See FIG. 41 .
- the firing member body 2312 further comprises a firing member wing or tab 2355 that extends laterally from each lateral side of the firing member body 2312. See FIGS. 15 and 36 .
- the firing member wings 2355 are positioned to contact the corresponding anvil control arms 1234 when the firing member 2310 is driven in the proximal direction PD from the home or starting position to quickly close the anvil 1210 for grasping purposes.
- the firing member wings 2355 when the firing member 2310 is in the home or starting position, the firing member wings 2355 are located distal to the anvil control arms 1234 as shown in FIG. 42 .
- the firing member wings 2355 push the anvil control arms 1234 (pivotal direction C) against the bias of the anvil springs 1270. See FIG. 42 .
- the firing member 2310 only has to move a short distance D to pivot the anvil 1210 to a closed position.
- distance D may be approximately 0.070 inches (1.778mm) long, for example. This short movement allows for a quick response.
- the firing member wings 2355 may be referred to herein as "pre-compression features". See FIG. 43 .
- the clinician may use the surgical end effector 1000 to grasp and manipulate tissue between the anvil 1210 and the surgical staple cartridge 1300 without cutting the tissue and forming the staples, by advancing the firing member 2310 proximally the short distance D to cause the anvil 1210 to quickly pivot to a closed position.
- the firing member 2310 may be moved in the proximal direction PD by rotating the rotary drive screw 2700 in a second rotary direction.
- the anvil 1210 may be biased into the fully open position by the anvil springs 1270.
- Activation of the rotary drive system 2600 to apply a rotary motion to the rotary drive screw 2700 in a first rotary direction will cause the firing member 2310 to be advanced distally from the home or starting position to apply an anvil closure motion to the anvil 1210 to move the anvil closed to clamp the target tissue between the anvil 1210 and the surgical staple cartridge 1300.
- the firing member 2310 continues to distally advance through the surgical end effector 1000.
- the firing member 2310 moves distally, the firing member 2310 contacts a sled 1312 ( FIG. 19 ) that is supported in the surgical staple cartridge 1300 and drives the sled 1312 distally through the staple cartridge body 1302.
- the rotary drive system is actuated to apply a second rotary drive motion to the rotary drive screw 2700 in a second rotary direction that is opposite to the first rotary direction.
- the "home or starting position" of the firing member 2310 is not its proximal-most position.
- the firing member 2310 may become stuck within the surgical end effector.
- the top firing member feature 2320 may remain engaged with the anvil 1210 and the bottom firing member feature 2350 may remain engaged with the elongate channel 1110 and thereby prevent the surgeon from moving the anvil 1210 to an open position to release the tissue clamped between anvil 1210 and surgical staple cartridge 1300. This could occur, for example, if the motor or other control arrangement supplying the rotary drive motions to the rotary drive shaft 2610 fails or otherwise becomes inoperative.
- the firing member 2310 may be retracted back to the home or starting position within the surgical end effector 1000 by pulling the top cable 2404 and the lower cable 2504 in a proximal direction.
- a proximal portion of the top cable 2404 and a proximal portion of the lower cable 2505 may be spooled on a rotary spool or cable-management system 2009 ( FIG. 2 ) in the housing portion of the surgical instrument 10 that is configured to payout the top cable 2404 and lower cable 2504 during the firing stroke and also retract the cables 2404, 2504 in a proximal direction should the firing member 2310 need to be retracted.
- the cable management system 2009 may be motor powered or manually powered (ratchet arrangement, etc.) to apply retraction motions to the cables 2404, 2504.
- the cables 2404, 2504 When the cables 2404, 2504 are retracted, the upper vertebra members 2420 and lower vertebra members 2520 will cause the rotary drive screw 2700 to spin in reverse.
- the relative control motions for the rotary drive system 2600 may be supported within a housing 2002 which may be handheld or comprise a portion of a larger automated surgical system.
- the firing system 2300, articulation control system 2240, and the rotary drive system 2600 may, for example, be motor-controlled and operated by one or more control circuits.
- One method of using the surgical instrument 10 may involve the use of the surgical instrument 10 to cut and staple target tissue within a patient using laparoscopic techniques.
- one or more trocars may have been placed through the abdominal wall of a patient to provide access to a target tissue within the patient.
- the surgical end effector 1000 may be inserted through one trocar and one or more cameras or other surgical instruments may be inserted through the other trocar(s).
- the surgical end effector 1000 is positioned in an unarticulated orientation and the jaws 1100 and 1200 must be closed.
- the rotary drive system 2600 may be actuated to apply the second rotary motion to the rotary drive screw 2700 to cause the firing member 2310 to move proximally from the starting position to move the anvil 1210 (jaw 1200) to the closed position. See FIG. 44 .
- the rotary drive system 2600 is deactivated to retain the firing member 2310 in that position.
- the rotary drive system 2600 may be activated to cause the rotary drive screw 2700 to drive the firing member 2310 distally back to the starting position wherein the anvil springs 1270 will pivot the anvil 1210 to the open position. See FIG. 38 .
- the surgeon may need to articulate the surgical end effector 1000 into an advantageous position.
- the articulation control system 2240 is then actuated to articulate the surgical end effector in one or more planes relative to a portion of the elongate shaft assembly 2000 that is received within the cannula of the trocar.
- the articulation control system 2240 is deactivated to retain the surgical end effector 1000 in the articulated orientation.
- the surgeon may then use the surgical end effector to grasp the target tissue or adjacent tissue by activating the rotary drive system to rotate the rotary drive screw in the second rotary direction to move the firing member proximally to cause the anvil 1210 to rapidly close to grasp the tissue between the anvil 1210 and the surgical staple cartridge 1300.
- the anvil 1210 may be opened by reversing the rotation of the rotary drive screw 2700. This process may be repeated as necessary until the target tissue has be properly positioned between the anvil 1210 and the surgical staple cartridge 1300.
- the surgeon may commence the closing and firing process by activating the rotary drive system 2600 to drive the firing member 2310 distally from the starting position.
- the firing member 2310 applies a closure motion to the anvil 1210 and moves the anvil 1210 from the open position to the closed position in the manners discussed above.
- the firing member 2310 retains the anvil 1210 in the closed position thereby clamping the target tissue between the anvil 1210 and the surgical staple cartridge 1300.
- the firing member 2310 contacts a sled 1312 supported in the surgical staple cartridge 1300 and also drives the sled 1312 distally through the staple cartridge body 1302.
- the sled 1312 serially drives rows of drivers supported in the staple cartridge toward the clamped target tissue.
- Each driver has supported thereon one or more surgical staples or fasteners which are then driven through the target tissue and into forming contact with the underside of the anvil 1210.
- the tissue cutting edge 2314 thereon cuts through the stapled tissue.
- the rotary drive system 2600 is reversed which causes the firing member 2310 to retract proximally back to the home or starting position.
- the anvil springs 1270 will pivot the anvil 1210 to the open position to enable the surgeon to release the stapled tissue from the surgical end effector 1000.
- the surgical end effector may be withdrawn out of the patient through the trocar cannula.
- the surgeon must first actuate the articulation control system 2240 to return the surgical end effector 1000 to an unarticulated position and actuate the rotary drive system to drive the firing member 2310 proximally from the home or starting position to close the jaws. Thereafter, the surgical end effector 1000 may be withdrawn through the trocar cannula. If during the firing process or during the retraction process, the firing system becomes inoperative, the surgeon may retract the firing member 2310 back to the starting position by applying a pulling motion to the cables 2404, 2505 in the proximal direction in the various manners described herein.
- FIGS. 46-48 illustrate an articulation joint 18200 according to the invention that comprises a proximal joint member 18210 and a distal joint member 18250.
- the proximal joint member 18210 is configured to be attached to a distal end of an elongate shaft assembly 18100 ( FIG. 47 ) that is coupled to a housing or other portion of a surgical instrument in the various manners disclosed herein.
- the distal joint member 18250 may be attached to a closure tube arrangement 18110 ( FIG. 47 ) that is configured to apply closing and/or opening motions to a movable jaw of an end effector 18000.
- the distal joint member 18250 may be attached to one of the end effector jaws or other mounting portion of the end effector 18000.
- the distal joint member 18250 may be attached to an elongate channel of an endo-cutter arrangement in the various manners disclosed herein.
- the shaft assembly 18100 defines a shaft axis SA and the end effector 18000 defines and end effector axis EA.
- the articulation joint facilitates selective articulation of the end effector 18000 relative to the shaft assembly 18100 in an articulation plane between an unarticulated position wherein the end effector axis EA is axially aligned with the shaft axis SA and articulated positions wherein the end effector axis EA is not aligned with the shaft axis SA.
- the proximal joint member 18210 comprises a proximal mounting hub 18212.
- the proximal mounting hub may be configured to be inserted into a hollow outer shaft or tube portion 18102 of an elongate shaft assembly 18100 and be attached thereto by welding, adhesive, etc.
- the illustrated example further comprises a distally-facing collar portion 18214 that defines a distally-facing mounting area, generally designated as 18220. See FIG. 48 .
- the proximal joint member 18210 further comprises a proximal central passage 18216 that extends through the proximal mounting hub 18212 into the distally-facing mounting area 18220.
- the proximal central passage 18216 is configured to accommodate a proximal drive shaft 18310 that is a portion of a rotary drive system 18300.
- a flexible drive shaft (not shown) may extend through the proximal central passage 18216.
- the distal joint member 18250 comprises a distal mounting hub 18252 that is configured to be inserted into a hollow outer shaft 18114 or closure tube or mounting hub of a surgical end effector 18000 and be attached thereto by welding, adhesive, etc.
- the surgical end effector 18000 may comprise any of the surgical end effector examples disclosed herein.
- the illustrated example further comprises a proximally-facing collar portion 18254 that defines a proximally-facing mounting area, generally designated as 18260.
- the distal joint member 18250 further comprises a distal central passage 18256 that extends from the distally-facing mounting area 18220 through the distal mounting hub 18252.
- the distal central passage 18256 is configured to accommodate a distal drive shaft 18330 that is a portion of the rotary drive system 18300 or in other embodiments, the distal central passage 18256 may support another portion of a flexible drive shaft arrangement.
- the illustrated example further comprises an articulation linkage assembly 19000 that extends between the proximal joint member 18210 and the distal joint member 18250 and is configured to operably interface therewith to facilitate articulation of the distal joint member 18250 (and the surgical end effector coupled thereto) relative to proximal joint member 18210 (and the elongate shaft assembly 18100 coupled thereto).
- the articulation linkage assembly 19000 comprises a first link 19010, a second link 19030, and a third link 19050.
- Each of the links 19010, 19030 and 19050 is movably captured between the proximal joint member 18210 and the distal joint member 18250, but, as will be discussed in further detail below, none of the links 19010, 19030, 19050 are directly attached to either of the proximal joint member 18210 and the distal joint member 18250.
- the first link 19010 comprises a rigid first link body 19012 that defines a first proximal end 19014 and a first distal end 19018.
- the first proximal end 19104 has a first proximal saddle 19016 formed therein that is configured to be pivotally received on a corresponding first proximal mounting lug 18222 formed in the distally-facing mounting area 18220.
- the first proximal mounting lug 18222 has an arcuate proximal pivot surface 18223 thereon and defines a first proximal pivot axis FPPA. See FIG. 49 .
- the first proximal saddle 19016 comprises a U-shaped proximal pivot surface 19017 that is configured to rollably or movably interface with the arcuate proximal pivot surface 18223 on the first proximal mounting lug 18222 such that the first link 19010 is movable relative to proximal joint member 18210 about the first proximal pivot axis FPPA in multiple directions or in multiple proximal travel paths.
- the first proximal saddle 19016 can move relative to the first proximal pivot axis FPPA in a first proximal travel path FPTP and a second proximal travel path SPTP.
- the first proximal travel path FPTP is transverse to the second proximal travel path SPTP. See FIGS. 49 and 51-54 .
- the first distal end 19108 comprises a first distal saddle 19020 formed therein that is configured to be pivotally received on a corresponding first distal mounting lug 18262 formed in the proximally-facing mounting area 18260.
- the first distal mounting lug 18262 has an arcuate pivot surface 18263 and defines a first distal pivot axis FDPA. See FIG. 50 .
- the first distal saddle 19020 comprises a U-shaped pivot surface 19022 that is configured to rollably or movably interface with the arcuate pivot surface 18263 on the first distal mounting lug 18262 such that the first link 19010 is movable relative to the distal proximal joint member 18250 about the first distal pivot axis FDPA in multiple directions or multiple distal travel paths.
- the first distal saddle 19020 can move relative to the first distal pivot axis FDPA in a first distal travel path FDTP and a second distal travel path SDTP.
- the first distal travel path FDTP is transverse to the second distal travel path SDTP. See FIG. 50 .
- the second link 19030 comprises a rigid second link body 19032 that defines a second proximal end 19034 and a second distal end 19038.
- the second proximal end 19034 has a second proximal saddle 19036 formed therein that is configured to be pivotally received on a corresponding second proximal mounting lug 18224 formed in the distally-facing mounting area 18220.
- the second proximal mounting lug 18224 has a second arcuate proximal pivot surface 18225 thereon and defines a second proximal pivot axis SPPA. See FIG. 49 .
- the second proximal saddle 19036 comprises a second U-shaped proximal pivot surface 19037 that is configured to rollably or movably interface with the second arcuate proximal pivot surface 18225 on the second proximal mounting lug 18224 such that the second link 19030 is movable relative to proximal joint member 18210 about the second proximal pivot axis SPPA in multiple directions or multiple proximal travel paths.
- the second proximal saddle 19036 can move relative to the second proximal pivot axis SPPA in a first proximal travel path FPTP and a second proximal travel path SPTP.
- the first proximal travel path FPTP is transverse to the second proximal travel path SPTP. See FIG. 49 .
- the second distal end 19038 comprises a second distal saddle 19040 that is configured to be pivotally received on a corresponding second distal mounting lug 18264 formed in the proximally-facing mounting area 18260. See FIG. 50 .
- the second distal mounting lug 18264 has a second arcuate distal pivot surface 18265 and defines a second distal pivot axis SDPA.
- the second distal saddle 19040 comprises a second U-shaped distal pivot surface 19042 that is configured to rollably interface with the second arcuate distal pivot surface 18265 on the second distal mounting lug 18264 such that the second link 19030 is movable relative to the distal joint member 18250 about the second distal pivot axis SDPA in multiple directions or multiple distal paths.
- the second distal saddle 19040 can move relative to the second distal pivot axis SDPA in a first distal travel path FDTP and a second distal travel path SDTP.
- the first distal travel path FDTP is transverse to the second distal travel path SDTP. See FIG. 50 .
- the third link 19050 comprises a rigid third link body 19052 that defines a third proximal end 19054 and a third distal end 19058.
- the third proximal end 19054 has a third proximal saddle 19056 formed therein that is configured to be pivotally received on a corresponding third proximal mounting lug 18226 formed in the distally-facing mounting area 18220.
- the third proximal mounting lug 18226 has a third arcuate proximal pivot surface 18227 and defines a third proximal pivot axis TPPA. See FIG. 49 .
- the third proximal saddle 19056 comprises a third U-shaped proximal pivot surface 19057 that is configured to rollably or movably interface with the third arcuate proximal pivot surface 18227 on the third proximal mounting lug 18226 such that the third link 19050 is movable relative to proximal joint member 18210 about the third proximal pivot axis TPPA in multiple directions or multiple travel paths.
- the third proximal saddle 19056 can move relative to the third proximal pivot axis TPPA in a first proximal travel path FPTP and a second proximal travel path SPTP.
- the first proximal travel path FPTP is transverse to the second proximal travel path SPTP. See FIG. 49 .
- the third distal end 19058 comprises a third distal saddle 19060 that is configured to be pivotally received on a corresponding third distal mounting lug 18266 formed in the proximally-facing mounting area 18260. See FIG. 50 .
- the third distal mounting lug 18266 comprises a third arcuate distal pivot surface 18267 and defines a third distal pivot axis TDPA.
- the third distal saddle 19060 comprises a third U-shaped distal pivot surface 19062 that is configured to rollably or movably interface with the third arcuate distal pivot surface 18267 on the third distal mounting lug 18266 such that the third link 19050 is movable relative to the distal joint member 18250 about the third distal pivot axis TDPA in multiple directions or multiple distal travel paths.
- the third distal saddle 19060 can move relative to the third distal pivot axis TDPA in a first distal travel path FDTP and a second distal travel path SDTP.
- the first distal travel path FDTP is transverse to the second distal travel path SDTP. See FIG. 50 .
- the link assembly 19000 is supported in movable pivotal engagement with the proximal joint member 18210 and the distal joint member 18250 by a cable-based articulation system 18400.
- the articulation joint 18200 is operably controlled by a cable control system 18400 that comprises four flexible actuator members in the form of cables 18410, 18420, 18430, and 18440 that extend through the elongate shaft assembly to operably interface with a cable control system that may be supported within the housing of the surgical instrument.
- the cable control system may comprise a plurality of cable support members/capstans, pulleys, etc. that are controlled by one or more corresponding motors that are controlled by a control circuit portion of the surgical instrument.
- the cable control system is configured to manage the tensioning (pulling) and paying out of cables at precise times during the articulation process.
- the cable 18410 extends through a corresponding passage 18412 in the proximal joint member 18210 into a corresponding passage 18414 in the distal joint member 18250 and has a retainer lug (not shown) thereon to prevent it from pulling through the distal joint member 18250.
- the cable 18420 extends through a corresponding passage 18422 in the proximal joint member 18210 and enters a corresponding passage in the distal joint member 18250 and has a retainer lug (not shown) thereon to prevent it from pulling through the distal joint member 18250.
- the cable 18430 extends through a corresponding passage 18432 in the proximal joint member 18210 into a corresponding passage 18434 in the distal joint member 18250 and has a retainer lug (not shown) thereon to prevent it from pulling through the distal joint member 18250.
- the cable 18440 extends through a corresponding passage 18442 in the proximal joint member 18210 into a corresponding passage 18444 in the distal joint member 18250 and has a retainer lug (not shown) thereon to prevent it from pulling through the distal joint member 18250.
- the cables 18410, 18420, 18430, and 18440 span the articulation joint 18200 to apply articulation motions to the distal joint member 18250.
- the distal joint member 18250 is selectively articulatable in multiple directions relative to the proximal joint member 18210 by applying tension to the various cables while enabling the remaining cables to slacken.
- the link assembly 19000 facilitates articulation motions that essentially approximate a distal virtual sphere VDS that rolls relative to a virtual proximal sphere VPS.
- the rotary drive system 18300 further comprises a central "dog bone" drive shaft 18320 that has a spherical proximal end 18322 that is received in a proximal socket 18312 in the proximal drive shaft 18310 and is movably retained therein by corresponding pins 18324.
- the central drive shaft 18320 further has a spherical distal end 18326 that is received within a distal socket 18332 in the distal drive shaft 18330 and is movably retained therein by corresponding pins 18328.
- Other flexible drive shaft arrangements may also be employed.
- the three links 19010, 19030, and 19050 are configured with a geometry that places the distal end of each link at 180 degrees (about the longitudinal axis) from the proximal end of the link.
- Each respective link 19010, 19030, and 19050 "reaches around" the central drive shaft 18320. Stated another way, the first link 19010 defines a first link axis FLA.
- the second link 19030 defines a second link axis SLA and the third link 19050 defines a third link axis TLA.
- the links 19010, 19030, and 19050 are supported relative to each other such that the first link axis FLA, the second link axis SLA, and the third think axis TLA are transverse to each other. See FIG. 48 .
- the specific geometric location of the lugs and saddle arrangements define a linkage 19000 that moves the distal joint member 18250 relative to the proximal joint member 18210 as if it was a ball rolling on another ball.
- the cables hold the links in compression so that the saddles are retained in movable engagement with their corresponding lugs in the proximal joint member 18210 and the distal joint member 18250 without being otherwise directly coupled thereto (e.g., without pins or other arrangements).
- Closing an anvil requires a system that meets many requirements.
- the closure system needs to respond fast to the hand motions of the surgeon who is either operating the robotic system or the hand held system to which the end effector is attached.
- the closure system must also be capable of applying enough load on the tissue to ensure proper staple formation. It should also be easy to bail out in the event of failure while closing.
- FIGS. 57-59 illustrate a surgical end effector 20000 that comprises a closure system 20400 that may address many if not all of the foregoing challenges.
- the surgical end effector 20000 comprises an elongate channel 20100 that is configured to operably support a surgical staple cartridge 20300 therein.
- the surgical end effector 20000 further comprises an anvil 20200 that is configured to move between an open position and a closed position relative to the surgical staple cartridge 20300 to clamp tissue therebetween.
- the closure system 20400 comprises a rotary driven closure cam member 20410 that is configured to apply closure motions to the anvil 20200.
- the closure cam member 20410 is supported on a rotatable cam shaft 20420 that has a driven gear 20422 formed thereon.
- the driven gear 20422 is supported in meshing engagement with a rotary closure gear 20660 that may be driven by a motor/gearbox arrangement supported in a housing of the surgical instrument to which the surgical end effector is operably attached.
- the cam shaft 20420 comprises a spiral drive groove 20424 that is configured to receive a drive pin 20412 on the closure cam member 20410. Rotation of the cam shaft 20420 in a first rotary direction will cause the closure cam member 20410 to move in the distal direction DD from a starting position ( FIGS. 59 and 61 ) to an ending position ( FIGS. 50 and 62 ).
- the anvil 20200 comprises an anvil mounting portion 20210 that comprises two mounting arms 20212 that each have a slot therein that is configured to receive a corresponding pivot pin 20216 that protrudes from a proximal end of the elongate channel 20100. See FIG. 58 .
- the closure cam member 20410 further comprises two closure cams 20414 that correspond to the anvil mounting arms 20212 of the anvil 20200.
- the anvil 20200 may be biased into the open position shown in FIGS. 58 and 59 by a spring (not shown).
- the anvil 20200 is moved to a closed position by actuating the rotary closure gear 20660 to drive the closure cam member 20410 distally from the starting position to the ending position.
- the closure cams 20414 contact the corresponding mounting arms 20212 and causes the anvil 20200 to pivot to the closed position shown in FIG. 60 .
- FIG. 63 illustrates the surgical end effector 20000 attached to an articulation joint 20500 that employs a rotary drive assembly 20600 for transmitting rotary drive motions across the articulation joint 20500.
- the rotary drive assembly 20600 comprises nested universal joints that can permit the surgical end effector 20000 to roll distal to the articulation joint 20500.
- a two-side joint arrangement wherein each joint can angle approximately seventy degrees (one hundred forty degrees total) may be employed, for example.
- the articulation joint 20500 comprises a proximal joint member 20510 that may be attached to an outer tube member of an elongate shaft assembly that is coupled to or operably interfaces with a housing of a surgical instrument.
- the proximal joint member 20510 may be integrally formed on a distal end of the outer tube member of the elongate shaft.
- the proximal joint member 20510 comprises a distally protruding upper pivot tang 20520 and a distally protruding lower pivot tang 20530.
- the articulation joint 20500 further comprises a distal joint member 20540 that is attached to the surgical end effector 20000.
- the distal joint member 20540 is attached to the proximal end of the elongate channel 20100 and includes a proximally protruding upper pivot tang 20550 and a proximally protruding lower pivot tang 20560.
- the distally protruding upper pivot tang 20520 is formed with a series of proximal articulation gear teeth 20522 and the proximally protruding upper pivot tang 20550 is formed with a series of distal articulation gear teeth 20552.
- the distally protruding lower pivot tang 20530 is formed with an arcuate proximal surface 20532 and the proximally protruding lower pivot tang 20560 is formed with an arcuate distal surface 20562.
- the rotary drive assembly 20600 extends through the articulation joint 20500 and serves to retain the proximal articulation gear teeth 20522 in meshing engagement with the distal articulation gear teeth 20552 to facilitate pivotal travel therebetween.
- the arcuate distal surface 20562 and the arcuate proximal surface 20532 may be supported in rocking engagement with each other.
- Such arrangement permits the surgical end effector 20000 to articulate through a single articulation plane relative to the elongate shaft assembly upon application of articulation control motions to the surgical end effector 20000.
- articulation control motions may be applied to the surgical end effector by cables or other articulation members (not shown) that extend from control systems in the surgical instrument housing and span the articulation joint 20500 to operably interface with the surgical end effector.
- the rotary drive system 20600 comprises a series of nested shaft systems 20610, 20710, and 20810.
- the centermost "first" shaft system 20610 comprises a first proximal shaft member 20620 that is attached to or otherwise operably interfaces with a corresponding first rotary drive system supported by the housing of the surgical instrument.
- the first rotary drive system may comprise a corresponding motor/gear arrangement configured to rotate the first proximal shaft member 20620.
- the first shaft system 20610 further comprises a first central shaft 20630 that comprises a shaft body 20632 that has a first spherical proximal end 20634 that is rotatably supported in a first spherical proximal cup 20622 on the first proximal shaft member 20620.
- the first central shaft 20630 is movably pinned within a cavity 20624 in the first spherical proximal cup 20622 by a first proximal pin 20636 that extends through an arcuate slot 20635 in the first spherical proximal end 20634.
- the first central shaft 20630 further comprises a first spherical distal end 20640 that is rotatably supported in a first spherical distal cup 20652 that is attached to a first distal shaft member 20650.
- the first central shaft 20630 is movably pinned within a cavity 20654 in the first spherical distal cup 20652 by a first distal pin 20644 that extends through an arcuate slot 20642 in the first spherical distal end 20640.
- the first distal shaft member 20650 may be configured to apply rotary motions to the closure gear 20660 to apply rotary closure motions to the rotatable cam shaft 20420 in the manners described above. See FIGS.
- actuation of the first rotary drive system to cause rotation of the first proximal shaft member 20620 will result in actuation of the closure system 20400 to move the anvil 20200 from an open position to a closed position.
- the second shaft system 20710 comprises a second proximal shaft member 20720 that is attached to or otherwise operably interfaces with a corresponding second rotary drive system supported by the housing of the surgical instrument.
- the second rotary drive system may comprise a corresponding motor/gear arrangement configured to rotate the second proximal shaft member 20720.
- the second shaft system 20710 further comprises a second hollow central shaft 20730 that comprises a hollow shaft body 20732 that has a second spherical proximal end 20734.
- the second hollow central shaft 20730 may be fabricated in two segments that are welded or otherwise coupled together.
- the second spherical proximal end 20734 defines a second central proximal cavity 20735 that is configured to movably receive therein the first spherical proximal cup 20622 of the first proximal shaft member 20620 therein.
- the second spherical proximal end 20734 is configured to be rotatably supported in a second spherical proximal cup 20722 on the second proximal shaft member 20720.
- the second hollow central shaft 20730 is movably pinned within a cavity 20724 in the second spherical proximal cup 20722 by second proximal pin segments 20736 that extend from the second spherical proximal end 20734 to be movably received within corresponding arcuate slots 20726 in the second spherical proximal cup 20722 on the second proximal shaft member 20720.
- the second hollow central shaft 20730 further comprises a second spherical distal end 20740.
- the second spherical distal end 20740 defines a second central distal cavity 20742 that is configured to movably receive therein the first spherical distal cup 20652 of the first distal shaft member 20650 therein.
- the second hollow central shaft 20730 is movably pinned within a cavity 20754 in the second spherical distal cup 20752 by second distal pin segments 20746 that extend from the second spherical distal end 20740 to be movably received within corresponding arcuate slots 20756 in the second spherical distal cup 20752 on the second distal shaft member 20750.
- the second distal shaft member 20750 may be configured to apply rotary motions to a first rotary drive gear 20760 that is in meshing engagement with a driven gear 20762 that is attached to a rotary drive shaft 20770 that is rotatably supported in the elongate channel 20100. See FIGS. 59, 60 , and 68 .
- the surgical end effector 20000 further comprises a firing member 20310 that is in threaded engagement with the rotary drive shaft 20770. Rotation of the rotary drive shaft 20770 in a first rotary direction will cause the firing member 20310 to move distally from a starting position ( FIG.
- the third shaft system 20810 comprises a third proximal shaft member 20820 that is attached to or otherwise operably interfaces with a corresponding third rotary drive system supported by the housing of the surgical instrument.
- the third rotary drive system may comprise a corresponding motor/gear arrangement configured to rotate the third proximal shaft member 20820.
- the third shaft system 20810 further comprises a third hollow central shaft 20830 that comprises a hollow shaft body 20832 that has a third spherical proximal end 20834.
- the third hollow central shaft 20830 may be fabricated in two segments that are welded or otherwise coupled together.
- the third spherical proximal end 20834 defines a third proximal cavity 20835 that is configured to movably receive therein the second spherical proximal cup 20722 of the second proximal shaft member 20720 therein.
- the third spherical proximal end 20834 is configured to be movably supported in a third proximal socket 20824 in the third proximal shaft member 20820.
- the third spherical proximal end 20834 is axially movable within the third proximal socket 20824 and is attached thereto by third proximal pin segments 20836 that extend from the third spherical proximal end 20834 to be movably received within corresponding axial slots 20824 in the third proximal socket 20824 on the third proximal shaft member 20820.
- the third central shaft 20830 further comprises a third spherical distal end 20840.
- the third spherical distal end 20840 defines a third central distal cavity 20842 that is configured to movably receive therein the second spherical distal cup 20752 of the second distal shaft member 20750 therein.
- the third spherical distal end 20840 is movably pinned within a third distal socket 20852 on a third distal shaft 20850.
- the third spherical distal end 20840 is axially movable within the third distal socket 20852 and is attached thereto by third distal pin segments 20846 that extend from the third spherical distal end 20840 to be movably received within corresponding axial slots 20854 in the third distal socket 20850.
- the third distal shaft member 20850 may be configured to apply rotary motions to the surgical end effector 20000 to rotate the surgical end effector 20000 about the shaft axis SA.
- the third distal shaft member 20850 may be directly attached to (welded) the elongate channel 20100.
- the intermeshing gear teeth 20522 and 20552 on the upper proximal pivot tang 20520 and upper distal pivot tang 20550 force the centers of the shaft systems to stay in the same center distance when undergoing articulation.
- Such shaft systems are very strong and robust while maintaining a tight articulation joint while also facilitating distal roll of the surgical end effector.
- FIGS. 69-75 illustrate a surgical end effector 21000 that can address many of not all of those challenges.
- the surgical end effector 21000 comprises a first jaw 21100 that comprises an elongate channel 21110 that is configured to operably support a surgical staple cartridge 21300 therein.
- the surgical end effector 21000 further comprises a second jaw 21200 that comprises an anvil 21210 that is pivotally coupled to the elongate channel 21110 about a fixed pivot axis PA.
- the anvil 21210 is pivotable between an open position ( FIG. 71 ) and a closed position ( FIG. 70 ) by a rotary driven closure system 21400.
- the closure system 21400 comprises a closure drive shaft 21410 that is configured to be rotated by a corresponding source of rotary motion (motor, etc.) in the housing of the surgical instrument to which the surgical end effector is attached.
- the closure drive shaft 21410 may comprises a flexible shaft arrangement that can flex while transferring torque through an articulation joint.
- the closure drive shaft 21410 is attached to a rotary cam shaft 21420 that has a closure cam lobe 21422 formed thereon.
- an opening bushing 21430 is movably journaled on the rotary cam shaft 21420 and is configured to engage an opening tab 21222 on an anvil mounting portion 21220 of the anvil 21210.
- An opening spring 21440 is positioned on the rotary cam shaft 21420 to bias the opening bushing 21430 distally into contact with the opening tab 21222 on the anvil 21210. As can be seen in FIG. 70 , as the opening bushing 21430 moves distally, it contacts the opening tab 21222 which causes the anvil 21210 to pivot about the pivot axis PA to the open position ( FIG. 71 ).
- the anvil 21210 is pivoted from the open position to a closed position by rotating the rotary cam shaft 21420 from a first rotary position shown in FIG. 72 to a final rotary position shown in FIG. 74 .
- the closure system 21400 further comprises a cam follower 21450 that is movably supported in the anvil mounting portion 21220 and is configured for movable engagement with the closure cam lobe 21422 on the rotary cam shaft 21420.
- FIGS. 71 and 72 illustrate the position of the closure cam lobe 21422 when the anvil 21210 is in the open position.
- the anvil mounting portion 21220 When in that position, the anvil mounting portion 21220 has pivoted past the closure cam lobe 21422 such that the cam follower 21450 is not contacted by the closure cam lobe 21422.
- the closure can lobe 21422 contacts the cam follower 21450 ( FIG. 73 ) and cams the cam follower 21450 into contact with a pivot cradle 12224 in the anvil mounting portion 21220 (upward in FIG. 73 ) to the position shown in FIG. 74 wherein the cam follower 21452 has pivoted the anvil 21210 to the closed position ( FIG. 75 ).
- the opening tab 21222 biases the opening bushing 21430 proximally on the rotary cam shaft 21420 against the bias of the opening spring 21440.
- the anvil opening spring 21440 biases the opening bushing 21430 distally into contact with the opening tab 21222 to pivot the anvil 21210 back to the open position.
- FIG. 76 illustrates another rotary cam shaft 21420' that is identical to the rotary cam shaft 21420 except that a distal end 21426 of the rotary cam shaft 21420' further comprises an opening cam 21426 that is configured to engage the opening tab 21222 on the anvil 21210 to move the anvil 21210 to an open position.
- the opening cam 21426 has cammed the anvil opening tab 21222 to pivot the anvil 21210 to the open position. See FIG. 77 .
- the rotary cam shaft 21420' is rotated in a closure direction to cause the cam lobe 21422 to cam the cam follower 21450 upward to pivot the anvil 21210 into the closed position.
- the anvil 21210 can then be returned to the open position by rotating the rotary cam shaft 21420' back to the first rotary position.
- the opening bushing 21430 and opening spring 21440 may be used in conjunction with the rotary cam shaft 21420'.
- closure system 21400 facilitates the application of relatively quick closure and opening motions to the anvil 21210.
- the cam profile(s) may be formed to establish a low mechanical advantage at the start and a relatively high mechanical advantage at the end when the anvil 21210 starts to compress tissue.
- Such closure system arrangement employs fewer components than many other closure system designs. This arrangement also provides additional space at the proximal end of the end effector to accommodate electronics and other mechanisms in the end effector.
- control circuit may refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor including one or more individual instruction processing cores, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic array (PLA), or field programmable gate array (FPGA)), state machine circuitry, firmware that stores instructions executed by programmable circuitry, and any combination thereof.
- programmable circuitry e.g., a computer processor including one or more individual instruction processing cores, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic array (PLA), or field programmable gate array (FPGA)
- state machine circuitry firmware that stores instructions executed by programmable circuitry, and any combination thereof.
- the control circuit may, collectively or individually, be embodied as circuitry that forms part of a larger system, for example, an integrated circuit (IC), an application-specific integrated circuit (ASIC), a system on-chip (SoC), desktop computers, laptop computers, tablet computers, servers, smart phones, etc.
- IC integrated circuit
- ASIC application-specific integrated circuit
- SoC system on-chip
- control circuit includes, but is not limited to, electrical circuitry having at least one discrete electrical circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application specific integrated circuit, electrical circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program which at least partially carries out processes and/or devices described herein, or a microprocessor configured by a computer program which at least partially carries out processes and/or devices described herein), electrical circuitry forming a memory device (e.g., forms of random access memory), and/or electrical circuitry forming a communications device (e.g., a modem, communications switch, or optical-electrical equipment).
- a computer program e.g., a general purpose computer configured by a computer program which at least partially carries out processes and/or devices described herein, or a microprocessor configured by a computer program which at least partially carries out processes and/or devices described herein
- electrical circuitry forming a memory device
- One or more components may be referred to herein as “configured to,” “configurable to,” “operable/operative to,” “adapted/adaptable,” “able to,” “conformable/conformed to,” etc.
- “configured to” can generally encompass active-state components and/or inactive-state components and/or standby-state components, unless context requires otherwise.
- any reference to “one aspect,” “an aspect,” “an exemplification,” “one exemplification,” and the like means that a particular feature, structure, or characteristic described in connection with the aspect is included in at least one aspect.
- appearances of the phrases “in one aspect,” “in an aspect,” “in an exemplification,” and “in one exemplification” in various places throughout the specification are not necessarily all referring to the same aspect.
- the particular features, structures or characteristics may be combined in any suitable manner in one or more aspects.
- an end effector in accordance with various embodiments can comprise electrodes configured to heat and seal the tissue.
- an end effector in accordance with certain embodiments can apply vibrational energy to seal the tissue.
- the devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, a device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps including, but not limited to, the disassembly of the device, followed by cleaning or replacement of particular pieces of the device, and subsequent reassembly of the device. In particular, a reconditioning facility and/or surgical team can disassemble a device and, after cleaning and/or replacing particular parts of the device, the device can be reassembled for subsequent use.
- reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.
- the devices disclosed herein may be processed before surgery.
- a new or used instrument may be obtained and, when necessary, cleaned.
- the instrument may then be sterilized.
- the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag.
- the container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, and/or high-energy electrons.
- the radiation may kill bacteria on the instrument and in the container.
- the sterilized instrument may then be stored in the sterile container.
- the sealed container may keep the instrument sterile until it is opened in a medical facility.
- a device may also be sterilized using any other technique known in the art, including but not limited to beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and/or steam.
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Claims (14)
- Instrument chirurgical, comprenant :un ensemble d'arbre (18100), ledit ensemble d'arbre (18100) définissant un axe d'arbre (SA) ;un effecteur terminal chirurgical (18000), ledit effecteur terminal chirurgical (18000) définissant un axe d'effecteur terminal (EA), ledit effecteur terminal chirurgical (18000) étant couplé audit ensemble d'arbre (18100) par un joint d'articulation (18200) configuré pour faciliter l'articulation dudit effecteur terminal chirurgical (18000) par rapport audit ensemble d'arbre (18100) dans un plan d'articulation entre une position non articulée, ledit axe d'effecteur terminal (EA) étant aligné axialement avec ledit axe d'arbre (SA) et des positions articulées ledit axe d'effecteur terminal (EA) n'étant pas aligné axialement avec ledit axe d'arbre (SA), ledit joint d'articulation (18200) comprenant :un élément d'articulation proximal (18210) couplé audit ensemble d'arbre (18100) ;un élément d'articulation distal (18250) couplé audit effecteur terminal chirurgical (18000) ; etun ensemble de liaison d'articulation (19000) comprenant une pluralité de liaisons (19010, 19030, 19050), chacune desdites liaisons (19010, 19030, 19050) étant configurée pour s'interfacer de manière opérationnelle avec ledit élément d'articulation proximal (18210) pour un déplacement mobile par rapport à celui-ci dans un premier trajet de déplacement proximal (FPTP), et chacune desdites liaisons (19010, 19030, 19050) étant configurée pour s'interfacer de manière opérationnelle avec ledit élément d'articulation distal (18250) pour un déplacement mobile par rapport à celui-ci dans un premier trajet de déplacement distal (FDTP) et un deuxième trajet de déplacement distal (SDTP) qui est transversal audit premier trajet de déplacement distal (FDTP), ledit ensemble de liaison d'articulation (19000) définissant un passage central s'étendant entre ladite pluralité de liaisons (19010, 19030, 19050), et ledit instrument chirurgical comprenant en outre :un élément d'entraînement (18300) s'étendant à travers ledit élément d'articulation proximal (18210), ledit passage central et ledit élément d'articulation distal (18250) pour s'interfacer de manière opérationnelle avec ledit effecteur terminal chirurgical (18000) ; etau moins deux éléments actionneurs flexibles (18410, 18420, 18430, 18440) s'étendant sur ledit joint d'articulation (18200) et s'interfaçant de manière opérationnelle avec ledit élément d'articulation distal (18250) pour appliquer des mouvements d'articulation à celui-ci ; caractérisé en ce quechacune desdites liaisons (19010, 19030, 19050) est configurée pour s'interfacer de manière opérationnelle avec ledit élément d'articulation proximal (18210) pour un déplacement mobile par rapport à celui-ci dans un deuxième trajet de déplacement proximal (SPTP) qui est transversal audit premier trajet de déplacement proximal (FPTP).
- Instrument chirurgical selon la revendication 1, ladite pluralité de liaisons (19010, 19030, 19050) comprenant trois liaisons.
- Instrument chirurgical selon la revendication 2, lesdites trois liaisons comprenant :une première liaison (19010) configurée pour s'interfacer de manière opérationnelle avec ledit élément d'articulation proximal (18210) pour un déplacement mobile par rapport à celui-ci dans un premier trajet de déplacement proximal (FPTP) et un deuxième trajet de déplacement proximal (SPTP) qui est transversal audit premier trajet de déplacement proximal (FPTP), et ladite première liaison (19010) étant configurée pour s'interfacer de manière opérationnelle avec ledit élément d'articulation distal (18250) pour un déplacement mobile par rapport à celui-ci dans un premier trajet de déplacement distal (FDTP) et un deuxième trajet de déplacement distal (SDTP) qui est transversal audit premier trajet de déplacement distal (FDTP) ;une deuxième liaison (19030) configurée pour s'interfacer de manière opérationnelle avec ledit élément d'articulation proximal (18210) pour un déplacement mobile par rapport à celui-ci dans un deuxième premier trajet de déplacement proximal (FPTP) et un deuxième deuxième trajet de déplacement proximal (SPTP) qui est transversal audit deuxième premier trajet de déplacement proximal (FPTP), et ladite deuxième liaison (19030) étant configurée pour s'interfacer de manière opérationnelle avec ledit élément d'articulation distal (18250) pour un déplacement mobile par rapport à celui-ci dans un deuxième premier trajet de déplacement distal (FDTP) et un deuxième deuxième trajet de déplacement distal (SDTP) qui est transversal audit deuxième premier trajet de déplacement distal (FDTP) ; etune troisième liaison (19050) configurée pour s'interfacer de manière opérationnelle avec ledit élément d'articulation proximal (18210) pour un déplacement mobile par rapport à celui-ci dans un troisième premier trajet de déplacement proximal (FPTP) et un troisième deuxième trajet de déplacement proximal (SPTP) qui est transversal audit troisième premier trajet de déplacement proximal (FPTP), et ladite troisième liaison (19050) étant configurée pour s'interfacer de manière opérationnelle avec ledit élément d'articulation distal (18250) pour un déplacement mobile par rapport à celui-ci dans un troisième premier trajet de déplacement distal (FDTP) et un troisième deuxième trajet de déplacement distal (SDTP) qui est transversal audit troisième premier trajet de déplacement distal (FDTP).
- Instrument chirurgical selon n'importe quelle revendication précédente, chacune desdites liaisons (19010, 19030, 19050) comprenant :une selle proximale (19016, 19036, 19056) configurée pour s'interfacer de manière mobile avec une patte de montage proximale correspondante (18222, 18224, 18226) sur ledit élément d'articulation proximal (18210) ; etune selle distale (19020, 19040, 19060) configurée pour s'interfacer de manière mobile avec une patte de montage distale correspondante (18262, 18264, 18266) sur ledit élément d'articulation distal (18250).
- Instrument chirurgical selon la revendication 4, chacune desdites pattes de montage proximales (18222, 18224, 18226) définissant une surface de pivot proximale arquée (18223, 18225, 18227), chacune desdites selles proximales (19016, 19036, 19056) comprenant une surface de pivot proximale en forme de U (19017, 19037, 19057) configurée pour s'interfacer de manière mobile avec ladite surface de pivot proximale arquée (18223, 18225, 18227) sur ladite patte de montage proximale (18222, 18224, 18226) pour faciliter le déplacement de ladite liaison (19010, 19030, 19050) dans ledit premier trajet de déplacement proximal respectif (FPTP) et ledit deuxième trajet de déplacement proximal respectif (SPTP) sur ladite patte de montage proximale (18222, 18224, 18226), chacune desdites pattes de montage distales (18262, 18264, 18266) définissant une surface de pivot distale arquée (18263, 18265, 18267), chacune desdites selles distales (19020, 19040, 19060) comprenant une surface de pivot distale en forme de U (19022, 19042, 19062) configurée pour s'interfacer de manière mobile avec ladite surface de pivot distale arquée (18263, 18265, 18267) sur ladite patte de montage distale (18262, 18264, 18266) pour faciliter le déplacement de ladite liaison (19010, 19030, 19050) dans ledit premier trajet de déplacement distal respectif (FDTP) et ledit deuxième trajet de déplacement distal respectif (SDTP) sur ladite patte de montage distale (18262, 18264, 18266).
- Instrument chirurgical selon la revendication 5, chacune desdites pattes de montage proximales (18222, 18224, 18226) définissant un axe de patte proximale, ledit premier trajet de déplacement proximal respectif (FPTP) comprenant un premier trajet de déplacement proximal arqué le long dudit axe de patte proximale, ledit deuxième trajet de déplacement proximal respectif (SPTP) comprenant un deuxième trajet de déplacement proximal arqué autour dudit axe de patte proximale, chacune desdites pattes de montage distales (18262, 18264, 18266) définissant un axe de patte distale, ledit premier trajet de déplacement distal respectif (FDTP) comprenant un premier trajet de déplacement distal arqué le long dudit axe de patte distale, et ledit deuxième trajet de déplacement distal respectif (SDTP) comprenant un deuxième trajet de déplacement distal arqué autour dudit axe de patte distale.
- Instrument chirurgical selon l'une quelconque des revendications 1, 2, 3, 4 ou 6, une partie dudit élément d'entraînement s'étendant à travers ledit joint d'articulation étant flexible.
- Instrument chirurgical selon l'une quelconque des revendications précédentes, ledit élément d'entraînement (18300) comprenant :un arbre d'entraînement proximal (18310) comprenant une extrémité distale supportée de manière opérationnelle dans ledit élément d'articulation proximal (18210) ;un arbre d'entraînement distal (18330) comprenant une extrémité proximale supportée de manière opérationnelle dans ledit élément d'articulation distal (18250) ; etun arbre d'entraînement central (18320) s'étendant entre ledit élément d'articulation proximal (18310) et ledit élément d'articulation distal (18250), ledit arbre d'entraînement central (18320) comprenant une extrémité proximale (18322) configurée pour s'interfacer de manière opérationnelle avec ladite extrémité distale dudit arbre d'entraînement proximal (18310), et ledit arbre d'entraînement central (18320) comprenant en outre une extrémité distale (18326) configurée pour s'interfacer de manière opérationnelle avec ladite extrémité proximale dudit arbre d'entraînement distal (18330).
- Instrument chirurgical selon la revendication 8, ledit arbre d'entraînement proximal (18310) étant configuré pour appliquer des mouvements d'entraînement rotatifs audit arbre d'entraînement central (18320).
- Instrument chirurgical selon l'une quelconque des revendications précédentes, lesdits au moins deux éléments actionneurs flexibles (18410, 18420, 18430, 18440) comprenant quatre câbles s'étendant sur ledit joint d'articulation (18200) et s'interfaçant de manière opérationnelle avec ledit élément d'articulation distal (18250) pour appliquer des mouvements d'articulation à celui-ci.
- Instrument chirurgical selon n'importe quelle revendication précédente, chaque liaison (19010, 19030, 19050) de ladite pluralité de liaisons n'étant pas fixé audit élément d'articulation proximal (18210) et audit élément d'articulation distal (18250).
- Instrument chirurgical selon l'une quelconque des revendications précédentes, chacune desdites liaisons (19010, 19030, 19050) de ladite pluralité de liaisons étant retenue en contact mobile avec ledit élément d'articulation proximal (18210) et ledit élément d'articulation distal (18250).
- Instrument chirurgical selon la revendication 3, ladite première liaison (19010) définissant un premier axe de liaison, ladite deuxième liaison (19030) définissant un deuxième axe de liaison, ladite troisième liaison (19050) définissant un troisième axe de liaison, et ledit premier axe de liaison, ledit deuxième axe de liaison, et ledit troisième axe de liaison étant transversaux les uns par rapport aux autres.
- Instrument chirurgical selon la revendication 6, chaque axe de patte proximale étant transversal à chacun des autres axes de patte proximale, et chaque axe de patte distale étant transversal à chacun des autres axes de patte distale.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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EP22213205.2A EP4169458A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux à double articulation sphérique avec liaisons pivotantes |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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US202063057432P | 2020-07-28 | 2020-07-28 | |
US202063057430P | 2020-07-28 | 2020-07-28 | |
US17/360,176 US11737748B2 (en) | 2020-07-28 | 2021-06-28 | Surgical instruments with double spherical articulation joints with pivotable links |
PCT/IB2021/056761 WO2022023949A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux à doubles articulations sphériques avec liaisons pivotantes |
Related Child Applications (1)
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EP22213205.2A Division EP4169458A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux à double articulation sphérique avec liaisons pivotantes |
Publications (2)
Publication Number | Publication Date |
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EP4007536A1 EP4007536A1 (fr) | 2022-06-08 |
EP4007536B1 true EP4007536B1 (fr) | 2022-12-28 |
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Application Number | Title | Priority Date | Filing Date |
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EP21749324.6A Active EP4007534B1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux dotés d'agencements de contrainte d'actionneur d'élément de déclenchement flexible |
EP21749328.7A Active EP4007536B1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux à doubles articulations sphériques avec liaisons pivotantes |
EP21749318.8A Pending EP4007530A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux avec agencements de joints d'articulation à fonction de combinaison |
EP21749325.3A Pending EP4007535A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux avec des agencements de joints d'articulations doubles sphériques |
EP21749320.4A Pending EP4007532A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux dotés de caractéristiques de fermeture d'éléments de déclenchement |
EP21752595.5A Pending EP4057912A2 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux ayant des agencements d'entraînement à chaîne à billes flexibles |
EP21749321.2A Pending EP4007533A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux pourvus d'agencements de joint d'articulation différentiel pour recevoir des actionneurs flexibles |
EP21749322.0A Pending EP4037577A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux articulables avec articulations comprenant des ensembles formant exosquelette flexible |
EP22213205.2A Pending EP4169458A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux à double articulation sphérique avec liaisons pivotantes |
EP21749327.9A Pending EP4007542A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux avec agencements de joints d'articulation à double pivot |
EP21749319.6A Active EP4007531B1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux à dispositifs d'entraînement flexibles segmentés |
EP21749333.7A Pending EP4007537A1 (fr) | 2020-07-28 | 2021-07-27 | Instruments chirurgicaux à agencements d'entraînement de colonne vertébrale en torsion |
Family Applications Before (1)
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EP21749324.6A Active EP4007534B1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux dotés d'agencements de contrainte d'actionneur d'élément de déclenchement flexible |
Family Applications After (10)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP21749318.8A Pending EP4007530A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux avec agencements de joints d'articulation à fonction de combinaison |
EP21749325.3A Pending EP4007535A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux avec des agencements de joints d'articulations doubles sphériques |
EP21749320.4A Pending EP4007532A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux dotés de caractéristiques de fermeture d'éléments de déclenchement |
EP21752595.5A Pending EP4057912A2 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux ayant des agencements d'entraînement à chaîne à billes flexibles |
EP21749321.2A Pending EP4007533A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux pourvus d'agencements de joint d'articulation différentiel pour recevoir des actionneurs flexibles |
EP21749322.0A Pending EP4037577A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux articulables avec articulations comprenant des ensembles formant exosquelette flexible |
EP22213205.2A Pending EP4169458A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux à double articulation sphérique avec liaisons pivotantes |
EP21749327.9A Pending EP4007542A1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux avec agencements de joints d'articulation à double pivot |
EP21749319.6A Active EP4007531B1 (fr) | 2020-07-28 | 2021-07-26 | Instruments chirurgicaux à dispositifs d'entraînement flexibles segmentés |
EP21749333.7A Pending EP4007537A1 (fr) | 2020-07-28 | 2021-07-27 | Instruments chirurgicaux à agencements d'entraînement de colonne vertébrale en torsion |
Country Status (6)
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US (15) | US11864756B2 (fr) |
EP (12) | EP4007534B1 (fr) |
JP (12) | JP2023535623A (fr) |
CN (12) | CN116096310A (fr) |
BR (9) | BR112023001381A2 (fr) |
WO (12) | WO2022023936A1 (fr) |
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